Rail-mounted charging device and charging method thereof

Abstract

The present invention provides a rail-mounted charging device and a charging method thereof. The charging device includes a charging robot that moves along a guide rail and a plurality of charging pile devices that cooperate with the charging robot and are distributed along the guide rail. The robot body moves along the guide rail, and after receiving a charging request, moves to the storage place of the charging pile assembly, takes out the charging pile assembly from the charging seat assembly at the storage place, and sends the charging pile assembly to the charging seat assembly corresponding to the charging demand position. At this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot starts to process the next charging demand task. Relying on the high mobility of the rail-mounted robot, the present invention reduces the ratio of the number of charging piles to parking spaces, improves the efficiency and convenience of new energy vehicles in finding piles, and can be connected to the unified management of the national power grid to improve the safety, economy and portability of the charging system.

Description

Technical Field

[0001] The invention relates to the field of charging equipment, in particular to a rail-mounted charging equipment and a charging method thereof. Background Art

[0002] Currently, China's new energy vehicle market size has firmly ranked first in the world, but the development of its closely related new energy vehicle charging facilities has a certain degree of lag, affecting consumers' acceptance of new energy vehicles.

[0003] Although a large number of centralized charging facilities have been established, and portable charging piles have been introduced into residential parking lots, there are still problems such as charging parking spaces being occupied, the shortage of independent parking spaces for new energy vehicles, the complex control of the circuit transformation needs of individual parking spaces in residential areas, and long charging queues. At the same time, major market players have also conducted research and development on charging robots, but there are currently no mature and applicable products. Among them, wheeled charging robots are mostly pile-type charging with their own batteries, which requires a large ground area, and the robot needs to avoid a large number of ground driving obstacles when operating, and the safety and reliability are relatively weak. The concept of some rail-mounted charging equipment is not yet mature, and there is no single-machine multi-pile operation capability, which has little effect on reducing the charging pile parking space ratio. Summary of the invention

[0004] In order to solve the problems of the prior art, the present invention provides a rail-mounted charging device and a charging method thereof. By relying on the high maneuverability of the rail-mounted robot, the ratio of charging piles to parking spaces is reduced, the efficiency and convenience of new energy vehicles in finding charging piles are improved, and charging services are provided for more parking spaces in parking areas by managing multiple new energy vehicle charging piles. After receiving a charging demand from a certain parking space, the charging task process can be processed independently, and can be connected to the national power grid for unified management, thereby improving the safety, economy and portability of the charging system.

[0005] The present invention provides a rail-mounted charging device, comprising a charging robot moving along a guide rail and a plurality of charging pile devices cooperating with the charging robot and distributed along the guide rail.

[0006] The charging robot includes a main body electrical module and a walking module, a pre-positioning gripper module, a charging pile clamping module, and a charging pile sending and receiving module connected in sequence, wherein the walking module controls the charging robot to move along the guide rail through a guide roller; the pre-positioning gripper module cooperates with the charging pile device for positioning, the charging pile clamping module completes the action of grabbing the charging pile device, and the charging pile sending and receiving module performs the action of sending out and retrieving the charging pile.

[0007] The charging pile device comprises a charging pile component and a charging base component which are connected in cooperation. The charging base component is positioned with a pre-positioning clamping claw module, and the charging pile clamping module clamps the charging pile component to control its connection and separation with the charging base component.

[0008] Further improvement, the walking module includes a driving motor, a driving gear, a guide roller and a pre-tensioning roller. The driving motor rotates through the driving gear, and the pre-tensioning roller and the driving gear clamp the track of the guide rail in the middle position. The driving gear meshes with the rack on the track of the guide rail.

[0009] An encoder is installed at the center of the walking module, and a magnetic device corresponding to the encoder is arranged on the track of the guide rail.

[0010] Further improvement, the pre-positioning jaw module includes a pre-positioning jaw drive motor and a clamping arm connected thereto, the pre-positioning jaw drive motor drives the clamping arm to clamp or open, and a pre-positioning jaw opening detection element is fixedly installed at the opening limit position, and this position is set as the origin position of the clamping arm; a pre-positioning jaw clamping detection element is installed at the end of the clamping arm, and the pre-positioning jaw clamping detection element moves with the clamping arm. When the clamping arm clamps the charging seat assembly, the pre-positioning jaw clamping detection element is triggered to report the clamping status information.

[0011] Further improvement, the charging pile receiving and sending module is based on the operating support plate, and the charging pile receiving and sending motor, the first-level receiving and sending mechanism and the second-level receiving and sending mechanism are respectively installed on the lower side thereof, and the charging pile clamping module is installed as a whole under the second-level receiving and sending mechanism, and the power output by the charging pile receiving and sending motor can push out or retract the second-level receiving and sending mechanism together with the charging pile clamping module through the first-level receiving and sending mechanism;

[0012] Further improvement, the charging pile module includes a charging pile clamping motor and a charging pile clamping arm connected thereto, the power provided by the charging pile clamping motor drives two symmetrically installed charging pile clamping arms to clamp inward or open outward synchronously, and rely on the pin shaft holes on their inner sides to cooperate with the charging pile assembly; a charging pile clamping origin detection element and a charging pile clamping detection element are vertically installed at the extreme opening position of the charging pile clamping arm on one side, wherein the charging pile clamping origin detection element is triggered at the extreme position after the charging pile clamping arm is opened, and is used for detecting its origin position; the charging pile clamping detection element is triggered when the two-stage receiving and sending mechanism of the charging pile receiving and sending module approaches the charging pile assembly or the charging pile clamping arm clamps the charging pile assembly, and is used to detect whether the charging pile clamping conditions are met.

[0013] Further improvement, the charging pile assembly is based on the charging pile holder as the base, with the charging pile module embedded and installed inside, and is electrically connected to the connector plug on its front end surface, and the connector plug is used to power the charging pile module; two sets of automatically resettable inner fixing pins and outer fixing pins are installed on both sides of the charging pile holder, and the two actions are synchronized. When the inner fixing pin is pressed, the outer fixing pin is also pressed synchronously. After the inner fixing pin is released, the two automatically reset under the action of the internal elastic element.

[0014] As a further improvement, the charging seat assembly includes a charging seat lifting ear for lifting and fixing the entire charging seat assembly, and a pre-positioning clamping block that cooperates with the pre-positioning claw module is installed at the front end of the charging seat lifting ear as a fulcrum for the pre-positioning claw module; a connector socket that cooperates with the connector plug is installed in the middle below the charging seat lifting ear; charging pile hanging ears are installed on both sides of the charging seat assembly, and a V-shaped guide groove is opened on the inner side of the charging pile hanging ear, and a round hole is opened at the bottom. The outer fixing pin in the charging pile assembly slides inward along the guide groove and is hung inside the round hole at the bottom to complete the electrical connection between the connector socket and the connector plug; a self-resetting button switch is installed next to the connector socket. When the outer fixing pin is hung on the charging pile hanging ear, the button switch is pressed by the charging pile assembly, thereby connecting the power supply circuit of the connector socket. When the charging pile assembly leaves the charging pile hanging ear, the button switch automatically resets, and the power supply circuit of the connector socket is disconnected.

[0015] The present invention also provides a charging method for a rail-mounted charging device, wherein the robot body moves along the guide rail, and after receiving a charging request, moves to the storage location of the charging pile assembly, takes the charging pile assembly out of the charging base assembly at the storage location, and sends the charging pile assembly to the charging base assembly corresponding to the charging demand location. At this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot starts to process the next charging demand task.

[0016] The method specifically comprises the following steps:

[0017] Step 1: Hang the walking module of the robot body on the track, and hoist the charging seat assembly at the charging parking space so that the pre-positioning gripper module can cooperate smoothly with the pre-positioning clamping block;

[0018] Step 2: The robot receives the charging demand and starts the charging pile process. It searches for the charging pile component storage point according to the database and drives the driving gear with the walking drive motor to move the robot to the charging pile location.

[0019] Step 3: The pre-positioning clamping jaw driving motor drives the clamping arm to clamp the pre-positioning clamping block, and the pre-positioning clamping detection element is triggered, the robot is fixedly connected to the charging base assembly, and step 4 is continued; if the pre-positioning clamping detection element is not triggered and the clamping arm exceeds the limit, it is considered that the robot position calibration is incorrect, and the robot is automatically recalibrated and step 3 is executed;

[0020] Step 4: The charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to synchronously push the charging pile clamping arm toward the charging seat assembly. When the charging pile clamping detection element is triggered, the action of the charging pile receiving and sending motor is stopped, indicating that the position is the correct pile picking position, and step 5 is started; if the charging pile clamping detection element has not been triggered and the first-level receiving and sending mechanism and the second-level receiving and sending mechanism are out of limit, it is considered that there is no available charging pile assembly at this position, and the database information is judged to be incorrect. After marking the point, the pre-positioning clamping jaw motor drives the clamping arm to open until the pre-positioning clamping jaw opening detection element is triggered, and then step 2 is re-executed;

[0021] Step 5: The charging pile clamping motor drives the charging pile clamping arm to clamp inward, hold the inner fixing pin of the charging pile assembly and press it, and simultaneously press the outer fixing pin to disengage from the charging seat lifting ear; the charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to retract the charging pile assembly until the receiving and sending origin detection element is triggered, and the action of the charging pile receiving and sending motor is stopped; then the pre-positioning clamping jaw motor drives the clamping arm to open until the pre-positioning clamping jaw opening detection element is triggered; at this point, the pile removal process is completed and the pile delivery process is started;

[0022] Step 6: The walking drive motor drives the robot to the charging base assembly corresponding to the charging demand position, and the 2 pre-positioning clamping jaw drive motors drive the clamping arm to clamp the pre-positioning clamping block. The pre-positioning clamping detection element is triggered, and the robot is fixedly connected to the charging base assembly, and step 7 is continued; if the pre-positioning clamping detection element is not triggered and the clamping arm exceeds the limit, it is considered that the robot position calibration is incorrect, and the robot is automatically recalibrated and step 6 is executed;

[0023] Step 7: The charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to synchronously push the charging pile clamping arm together with the charging pile assembly it grabs to the charging seat assembly. During this period, the outer fixing pin approaches the charging seat assembly along the guide groove of the charging pile hanging ear. When the vehicle reaches the predetermined distance, the button switch is pressed to supply power to the connector socket. At this time, the charging pile module normally feedbacks the power-on information and stops the action of the charging pile receiving and sending motor, indicating that the connector plug and the connector socket have been successfully connected, and step eight is started; if the first-level receiving and sending mechanism and the second-level receiving and sending mechanism exceed the limit, and the charging pile module does not feedback the power-on information, it is considered that the circuit of the charging seat assembly at this position is damaged, and the position is marked for warranty, and the voice prompts the user to change the charging parking space and re-execute step six;

[0024] Step 8: The pre-positioning jaw motor drives the clamping arm to open until the pre-positioning jaw opening detection element is triggered. At the same time, the inner fixing pin is released, and the outer fixing pin automatically resets and inserts into the bottom hole of the charging pile hanger to fix the charging pile assembly with the charging base assembly; then the pre-positioning jaw motor drives the clamping arm to open until the pre-positioning jaw opening detection element is triggered; at this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot begins to process the next charging demand task.

[0025] The beneficial effects of the present invention are:

[0026] 1. The present invention relies on the high mobility of the track-mounted robot to mainly solve the problems of low utilization rate of electric vehicle charging facilities and large workload of circuit transformation of scattered personal parking spaces, reduce the ratio of charging piles to parking spaces, and improve the efficiency and convenience of new energy vehicles in finding charging piles.

[0027] 2. The present invention is provided with mobility by a robot, which provides charging services for more parking spaces in parking areas by managing multiple new energy vehicle charging piles. After receiving the charging demand from a certain parking space, it can handle the charging task process by itself, and can be connected to the national power grid for unified management, thereby improving the safety, economy and portability of the charging system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is a schematic diagram of the overall structure of the robot body in the implementation of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the robot body walking module in the implementation of the present invention;

[0031] Figure 3 This is a schematic diagram of the open posture of the pre-positioning gripper module of the robot body in the implementation of the present invention;

[0032] Figure 4 A schematic diagram of the clamping posture of the pre-positioning gripper module of the robot body in the implementation of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the charging pile receiving and clamping module of the robot body in the implementation of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of the charging pile assembly in the implementation of the present invention;

[0035] Figure 7 This is a schematic diagram of the charging base assembly structure;

[0036] Figure 8 A schematic diagram of a charging docking posture in an embodiment of the present invention;

[0037] Fig. 9 This is a flow chart of charging control in an embodiment of the present invention.

[0038] The figure includes: 1-walking module; 101-walking drive motor; 102-drive gear; 103-guide roller; 104-preload roller; 105-encoder; 2-pre-positioning clamping jaw module; 201-pre-positioning clamping jaw drive motor; 202-clamping arm; 203-pre-positioning clamping jaw opening detection element; 204-pre-positioning clamping jaw clamping detection element; 3-charging pile clamping module; 301-charging pile clamping motor; 302-charging pile clamping arm; 303-charging pile clamping origin detection element; 304-charging pile clamping detection element; 4-charging Pile receiving and sending module; 401-charging pile receiving and sending motor; 402-operating support plate; 403-receiving and sending origin detection element; 404-first-level receiving and sending mechanism; 405-second-level receiving and sending mechanism; 5-main body electrical module; 6-charging pile assembly; 601-charging pile retaining frame; 602-charging pile module; 603-inner fixing pin; 604-outer fixing pin; 605-connector plug; 7-charging seat assembly; 701-pre-positioning clamping block; 702-charging seat lifting ear; 703-charging pile hanging ear; 704-button switch; 705-connector socket. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] A specific implementation of the present invention is as follows, see Figure 1 The robot body consists of three modules: walking module 1, pre-positioning gripper module 2, charging pile clamping module 3, charging pile sending and receiving module 4 and body electrical module 5. The walking module 1 is located at the top of the robot body and is used to provide a power source for the robot to run along the track. The pre-positioning gripper module 2 is used for auxiliary positioning of the robot and the charging point, and can provide a holding force for the robot in the vertical direction of the track. The charging pile clamping module 3 is located at the bottom of the robot body and can complete the action of grabbing the charging pile. The charging pile sending and receiving module 4 is fixed between the pre-positioning gripper module and the charging pile clamping module, and is used to perform the action of sending and retrieving the charging pile.

[0041] See also Figure 2 In the walking module 1, two sets of guide rollers 103 are symmetrically installed on both sides in the length direction, which can move forward and backward along the guide groove of the guide rail. A driving gear 102 is installed on one side in the width direction, and a walking driving motor 101 is installed directly below the driving gear 102. The power is provided by the walking driving motor 101. After being transmitted to the driving gear 102, the driving gear 102 meshes with the rack on the track to realize the walking action of the robot body. A pre-tightening roller 104 is installed on the other side in the width direction. Through its pre-tightening force, it clamps the track in the middle position together with the driving gear 102, ensuring that the driving gear 102 is tightly meshed and the stability of the robot hanging on the track. An encoder 105 is installed at the center of the walking module 1, which can be used to calibrate the position information by reading the corresponding magnetic device on the track.

[0042] See also Figure 3 and Figure 4 In the pre-positioning clamping jaw module 2, two clamping arms 202 are symmetrically installed, and a pre-positioning clamping jaw driving motor 201 is installed at the end. After the power provided by the pre-positioning clamping jaw driving motor 201 is transmitted to the clamping arm 202, it can be clamped or opened. A pre-positioning clamping jaw opening detection element 203 is fixedly installed at the opening limit position, and this position is set as the origin position of the clamping arm 202. At the same time, a pre-positioning clamping jaw clamping detection element 204 is installed at the end of the clamping arm 202, which can move with the clamping arm 202. When the clamping arm 202 clamps the pre-positioning clamping block 701, the pre-positioning clamping jaw clamping detection element 204 is triggered to report the clamping state information. The clamping arm 202 of the pre-positioning clamping jaw module 2 can be replaced by other forms, such as: latch, buckle, etc.

[0043] See also Figure 5In the charging pile receiving and sending module 4, the operating support plate 402 is used as the base, and the charging pile receiving and sending motor 401, the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 are respectively installed on its lower side. The charging pile clamping module 3 is installed as a whole below the second-level receiving and sending mechanism 405. Through the power output by the charging pile receiving and sending motor 401, the second-level receiving and sending mechanism 405 can be pushed out or retracted together with the charging pile clamping module 3 through the first-level receiving and sending mechanism 404. On the back of the charging pile clamping module 3, the charging pile clamping motor 301 is installed, and two charging pile clamping arms 302 with gear rack meshing transmission are installed in the front. The power provided by the charging pile clamping motor 301 can drive the two symmetrically installed charging pile clamping arms 302 to clamp inward or open outward synchronously, and can rely on the inner pin shaft hole to cooperate with the inner fixing pin 603 on the charging pile assembly 6. A charging pile clamping origin detection element 303 and a charging pile clamping detection element 304 are vertically installed at the extreme opening position of the charging pile clamping arm 302 on one side, wherein the charging pile clamping origin detection element 303 can be triggered at the extreme position after the charging pile clamping arm 302 is opened, and is used to detect its origin position. The charging pile clamping detection element 304 can be triggered when the two-stage receiving and sending mechanism of the charging pile receiving and sending module 4 is close to the charging pile assembly 6 or the charging pile clamping arm 302 clamps the charging pile assembly 6, and is used to detect whether the charging pile clamping condition is met. The pre-positioning jaw opening detection element 203; the pre-positioning jaw clamping detection element 204; the charging pile clamping origin detection element 303; the charging pile clamping detection element 304 and the receiving and sending origin detection element 403 are implemented in various forms, including but not limited to travel switches, photoelectric switches, contact resistors, etc.

[0044] See also Figure 6 In the charging pile assembly 6, the charging pile holder 601 is used as the base, and the charging pile module 602 is embedded and installed inside, and is electrically connected to the connector plug 605 on its front end surface, and the connector plug 605 can power the charging pile module 602. Two sets of automatically reset inner fixing pins 603 and outer fixing pins 604 are installed on both sides of the charging pile holder 601, and the two actions are synchronized. When the inner fixing pin 603 is pressed, the outer fixing pin 604 is also pressed synchronously. After the inner fixing pin 603 is released, the two can automatically reset under the action of the internal elastic element.

[0045] See also Figure 7In the charging seat assembly 7, the entire charging seat assembly 7 can be hoisted and fixed with the charging seat ear 702 as the force point. A pre-positioning clamping block 701 is installed at the front end of the charging seat ear 702, which serves as the force point of the clamping arm 202 of the pre-positioning clamping claw module 2. When the clamping arm 202 clamps the pre-positioning clamping block 701, the robot body and the charging seat assembly 7 are aligned. A connector socket 705 is installed in the middle below the charging seat ear 702, which can be matched with the connector plug 605 to connect the electrical path of the charging pile assembly 6. A charging pile hanging ear 703 is installed on each side of the charging seat assembly 7. The V-shaped guide groove inside the charging pile hanging ear 703 and the round hole at the bottom can allow the outer fixing pin of 604 to slide inward along the guide groove and then hang inside the round hole at the bottom, and at the same time complete the electrical connection between the connector socket 705 and the connector plug 605. A self-resetting button switch 704 is installed next to the connector socket 705. When the outer fixing pin of 604 is hung on the charging pile hanging ear 703, the button switch 704 is pressed by the charging pile component 6, thereby connecting the power supply circuit of the connector socket 705. When the charging pile component 6 leaves the charging pile hanging ear 703, the button switch 704 is automatically reset, and the power supply circuit of the connector socket 705 is disconnected.

[0046] The following is a preferred implementation example. Figure 8 and Fig. 9 , describing the charging method of the present invention:

[0047] Step 1: hang the walking module 1 of the robot body on the track, and hoist the charging seat assembly 7 at the charging parking space, so that the pre-positioning claw module 2 can cooperate smoothly with the pre-positioning clamping block 701. Taking this as an example, multiple charging seat assemblies 7 can be installed at different charging parking spaces under the same track.

[0048] Step 2: The robot receives a charging request and starts the charging pile retrieval process. It searches for the storage point of the charging pile assembly 6 according to the database and drives the driving gear 102 with the travel driving motor 101 to move the robot to the charging pile retrieval position.

[0049] Step 3: The pre-positioning clamping jaw driving motor 201 drives the clamping arm 202 to clamp the pre-positioning clamping block 701, and the pre-positioning clamping jaw clamping detection element 204 is triggered, the robot is fixedly connected to the charging seat assembly 7, and step 4 is continued. If the pre-positioning clamping jaw clamping detection element 204 is not triggered and the clamping arm 202 exceeds the limit, it is considered that the robot position calibration is incorrect, and the robot is automatically recalibrated and step 3 is executed.

[0050] Step 4: The charging pile receiving and sending motor 401 drives the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 to synchronously push the charging pile receiving and sending module 4 to the charging seat assembly 7 (the charging seat assembly 7 is mounted with the charging pile assembly 6). When the charging pile clamping detection element 304 is triggered, the action of the charging pile receiving and sending motor 401 is stopped, indicating that the position is the correct pile picking position, and step 5 is started. If the charging pile clamping detection element 304 has not been triggered and the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 are over-limited, it is considered that there is no available charging pile assembly 6 at this position, and the database information is judged to be incorrect. After marking the point, the pre-positioning clamping jaw driving motor 201 drives the clamping arm 202 to open until the pre-positioning clamping jaw opening detection element 203 is triggered, and then step 2 is re-executed.

[0051] Step 5: The charging pile clamping motor 301 drives the charging pile clamping arm 302 to clamp inward, hold the inner fixing pin 603 of the charging pile assembly 6 and press it, and simultaneously press the outer fixing pin 604 to disengage from the charging seat ear 702. Then the charging pile receiving and sending motor 401 drives the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 to retract the charging pile assembly 6 until the receiving and sending origin detection element 403 is triggered, and the action of the charging pile receiving and sending motor 401 is stopped. Then the pre-positioning jaw drive motor 201 drives the clamping arm 202 to open until the pre-positioning jaw opening detection element 203 is triggered. At this point, the pile removal process is completed and the pile delivery process begins.

[0052] Step 6: The walking drive motor 101 drives the robot to the charging seat assembly 7 corresponding to the charging demand position, and the pre-positioning clamping jaw drive motor 201 drives the clamping arm 202 to clamp the pre-positioning clamping block 701, and the pre-positioning clamping jaw clamping detection element 204 is triggered, and the robot is fixedly connected to the charging seat assembly 7, and step 7 is continued. If the pre-positioning clamping jaw clamping detection element 204 is not triggered and the clamping arm 202 exceeds the limit, it is considered that the robot position calibration is incorrect, and it is automatically recalibrated and step 6 is executed.

[0053] Step 7: The charging pile receiving and sending motor 401 drives the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 to synchronously push the charging pile receiving and sending module 4 together with the charging pile component 6 it grabs to the charging seat component 7. During this period, the outer fixing pin of 604 approaches the charging seat component 7 along the guide groove of the charging pile hanging ear 703. When the predetermined distance is reached, the button switch 704 is pressed and pressed, and the connector socket 705 is powered and connected. At this time, the charging pile module 602 normally feedbacks the power-on information, and the action of the charging pile receiving and sending motor 401 is stopped, indicating that the connector plug 605 and the connector socket 705 have been successfully connected, and step eight is started. If the first-level receiving and sending mechanism 404 and the second-level receiving and sending mechanism 405 exceed the limit, and the charging pile module 602 does not feedback the power-on information, it is considered that the circuit of the charging seat component 7 at this position is damaged, and the point is marked for warranty, and the voice prompts the user to change the charging parking space, and re-execute step six.

[0054] Step 8: The pre-positioning jaw drive motor 201 drives the clamping arm 202 to open until the pre-positioning jaw opening detection element 203 is triggered. At the same time, the inner fixing pin 603 is released, and the outer fixing pin 604 automatically resets and inserts into the bottom hole of the charging pile hanging ear 703, and the charging pile assembly 6 is fixedly connected to the charging seat assembly 7. Then the pre-positioning jaw drive motor 201 drives the clamping arm 202 to open until the pre-positioning jaw opening detection element 203 is triggered. At this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot begins to process the next charging demand task.

[0055] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A rail-mounted charging device, characterized in that: It includes a charging robot moving along the guide rail and a number of charging pile devices distributed along the guide rail in cooperation with the charging robot; The charging robot comprises a main body electrical module and a walking module, a pre-positioning clamping module, a charging pile clamping module, and a charging pile receiving and sending module connected in sequence, wherein the walking module controls the charging robot to move along the guide rail through a guide roller; the pre-positioning clamping module cooperates with the charging pile device for positioning, the charging pile clamping module completes the action of grabbing the charging pile device, and the charging pile receiving and sending module performs the action of sending out and retrieving the charging pile; The charging pile device comprises a charging pile component and a charging base component which are connected in a matching manner, the charging base component is positioned with a pre-positioning clamping claw module, and the charging pile clamping module clamps the charging pile component to control its connection and separation with the charging base component; The charging pile assembly is based on the charging pile holder, and a charging pile module is embedded and installed inside, and is electrically connected to the connector plug on the front end surface thereof, and the connector plug supplies power to the charging pile module; two sets of inner fixing pins and outer fixing pins that can be automatically reset are installed on both sides of the charging pile holder, and the two sets of inner fixing pins and outer fixing pins that can be automatically reset are synchronously installed, and when the inner fixing pins are pressed, the outer fixing pins are also pressed synchronously, and after the inner fixing pins are released, the two sets of inner fixing pins are automatically reset under the action of the internal elastic element; The charging seat assembly includes a charging seat lifting ear for lifting and fixing the entire charging seat assembly, and a pre-positioning clamping block that cooperates with the pre-positioning clamping claw module is installed at the front end of the charging seat lifting ear as a fulcrum of the pre-positioning clamping claw module; a connector socket that cooperates with the connector plug is installed in the middle below the charging seat lifting ear; charging pile hanging ears are installed on both sides of the charging seat assembly, and a V-shaped guide groove is opened on the inner side of the charging pile hanging ear, and a round hole is opened at the bottom. The outer fixing pin in the charging pile assembly slides inward along the guide groove and is hung inside the round hole at the bottom to complete the electrical connection between the connector socket and the connector plug; a self-resetting button switch is installed next to the connector socket. When the outer fixing pin is hung on the charging pile hanging ear, the button switch is pressed by the charging pile assembly, thereby connecting the power supply circuit of the connector socket. When the charging pile assembly leaves the charging pile hanging ear, the button switch automatically resets, and the power supply circuit of the connector socket is disconnected.

2. The rail-mounted charging device according to claim 1, characterized in that: The walking module includes a driving motor, a driving gear, a guide roller and a pre-tightening roller. The driving motor rotates through the driving gear. The pre-tightening roller and the driving gear clamp the track of the guide rail in the middle position. The driving gear meshes with the rack on the track of the guide rail.

3. The rail-mounted charging device according to claim 2, characterized in that: An encoder is installed at the center of the walking module, and a magnetic device corresponding to the encoder is arranged on the track of the guide rail.

4. The rail-mounted charging device according to claim 1, characterized in that: The pre-positioning jaw module includes a pre-positioning jaw drive motor and a clamping arm connected thereto. The pre-positioning jaw drive motor drives the clamping arm to clamp or open. A pre-positioning jaw opening detection element is fixedly installed at the opening limit position, and this position is set as the origin position of the clamping arm. A pre-positioning jaw clamping detection element is installed at the end of the clamping arm. The pre-positioning jaw clamping detection element moves with the clamping arm. When the clamping arm clamps the charging seat assembly, the pre-positioning jaw clamping detection element is triggered to report the clamping status information.

5. The rail-mounted charging device according to claim 1, characterized in that: The charging pile receiving and sending module is based on the operating support plate, and the charging pile receiving and sending motor, the first-level receiving and sending mechanism and the second-level receiving and sending mechanism are respectively installed on the lower side thereof. The charging pile clamping module is installed as a whole under the second-level receiving and sending mechanism. Through the power output by the charging pile receiving and sending motor, the second-level receiving and sending mechanism together with the charging pile clamping module can be pushed out or retracted through the first-level receiving and sending mechanism.

6. The rail-mounted charging device according to claim 5, characterized in that: The charging pile module includes a charging pile clamping motor and a charging pile clamping arm connected thereto, and the power provided by the charging pile clamping motor drives two symmetrically installed charging pile clamping arms to clamp inward or open outward synchronously, and cooperate with the charging pile assembly by relying on the pin shaft holes on the inner side; a charging pile clamping origin detection element and a charging pile clamping detection element are vertically installed at the opening limit position of the charging pile clamping arm on one side, wherein the charging pile clamping origin detection element is triggered at the limit position after the charging pile clamping arm is opened, and is used for detecting its origin position; the charging pile clamping detection element is triggered when the two-stage receiving and sending mechanism of the charging pile receiving and sending module approaches the charging pile assembly or the charging pile clamping arm clamps the charging pile assembly, and is used to detect whether the charging pile clamping conditions are met.

7. A charging method for a rail-mounted charging device, characterized in that: The robot body moves along the guide rail, and after receiving the charging request, it moves to the storage area of ​​the charging pile assembly, takes out the charging pile assembly from the charging base assembly at the storage area, and sends the charging pile assembly to the charging base assembly corresponding to the charging demand position. At this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot starts to process the next charging demand task; specifically, the following steps are included: Step 1: Hang the walking module of the robot body on the track, and hoist the charging seat assembly at the charging parking space so that the pre-positioning gripper module can cooperate smoothly with the pre-positioning clamping block; Step 2: The robot receives the charging demand and starts the charging pile process. It searches for the charging pile component storage point according to the database and drives the driving gear with the walking drive motor to move the robot to the charging pile location. Step 3: The pre-positioning clamping jaw driving motor drives the clamping arm to clamp the pre-positioning clamping block, and the pre-positioning clamping detection element is triggered, the robot is fixedly connected to the charging base assembly, and step 4 is continued; if the pre-positioning clamping detection element is not triggered and the clamping arm exceeds the limit, it is considered that the robot position calibration is incorrect, and the robot is automatically recalibrated and step 3 is executed; Step 4: The charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to synchronously push the charging pile clamping arm toward the charging seat assembly. When the charging pile clamping detection element is triggered, the action of the charging pile receiving and sending motor is stopped, indicating that the position is the correct pile picking position, and step 5 is started; if the charging pile clamping detection element has not been triggered and the first-level receiving and sending mechanism and the second-level receiving and sending mechanism are out of limit, it is considered that there is no available charging pile assembly at this position, and the database information is judged to be incorrect. After marking the point, the pre-positioning clamping jaw motor drives the clamping arm to open until the pre-positioning clamping jaw opening detection element is triggered, and then step 2 is re-executed; Step 5: The charging pile clamping motor drives the charging pile clamping arm to clamp inward, hold the inner fixing pin of the charging pile assembly and press it, and simultaneously press the outer fixing pin to disengage from the charging seat lifting ear; the charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to retract the charging pile assembly until the receiving and sending origin detection element is triggered, and the action of the charging pile receiving and sending motor is stopped; then the pre-positioning clamping jaw motor drives the clamping arm to open until the pre-positioning clamping jaw opening detection element is triggered; at this point, the pile removal process is completed and the pile delivery process is started; Step 6: The walking drive motor drives the robot to the charging base assembly corresponding to the charging demand position, and the pre-positioning clamping jaw drive motor drives the clamping arm to clamp the pre-positioning clamping block. The pre-positioning clamping detection element is triggered, and the robot is fixedly connected to the charging base assembly, and step 7 is continued; if the pre-positioning clamping detection element is not triggered and the clamping arm exceeds the limit, it is considered that the robot position calibration is incorrect, and the robot is automatically recalibrated and step 6 is executed; Step 7: The charging pile receiving and sending motor drives the first-level receiving and sending mechanism and the second-level receiving and sending mechanism to synchronously push the charging pile clamping arm together with the charging pile assembly it grabs to the charging seat assembly. During this period, the outer fixing pin approaches the charging seat assembly along the guide groove of the charging pile hanging ear. When the vehicle reaches the predetermined distance, the button switch is pressed to supply power to the connector socket. At this time, the charging pile module normally feedbacks the power-on information and stops the action of the charging pile receiving and sending motor, indicating that the connector plug and the connector socket have been successfully connected, and step eight is started; if the first-level receiving and sending mechanism and the second-level receiving and sending mechanism exceed the limit, and the charging pile module does not feedback the power-on information, it is considered that the circuit of the charging seat assembly at this position is damaged, and the position is marked for warranty, and the voice prompts the user to change the charging parking space and re-execute step six; Step 8: The pre-positioning jaw motor drives the clamping arm to open until the pre-positioning jaw opening detection element is triggered. At the same time, the inner fixing pin is released, and the outer fixing pin automatically resets and inserts into the bottom hole of the charging pile hanger to fix the charging pile assembly with the charging base assembly; then the pre-positioning jaw motor drives the clamping arm to open until the pre-positioning jaw opening detection element is triggered; at this point, the robot returns to the initial state, the customer can plug in the gun for charging, and the robot begins to process the next charging demand task.

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